Summary
The inverted pendulum has been used as a benchmark for motivating the study of nonlinear control techniques. We propose a simple controller for balancing the inverted pendulum and rise it to its upper equilibrium position. The control strategy is based on the passivity properties of the cart and pendulum system.
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© 1998 Springer-Verlag London Limited
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Lozano, R., Fantoni, I. (1998). Passivity based control of the inverted pendulum. In: Normand-Cyrot, D. (eds) Perspectives in Control. Springer, London. https://doi.org/10.1007/978-1-4471-1276-1_7
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DOI: https://doi.org/10.1007/978-1-4471-1276-1_7
Publisher Name: Springer, London
Print ISBN: 978-1-4471-1278-5
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